14th IFAC Symposium on System Identification, SYSID 2006

SYSID-2006 Paper Abstract


Paper FrB6.3

Svensson, Lennart (Chalmers Univ. of Tech.), Gunnarsson, Joakim (Chalmers Univ. of Tech.)

A New Motion Model for Tracking of Vehicles

Scheduled for presentation during the Regular Session "Identification in Automotive Systems" (FrB6), Friday, March 31, 2006, 16:10−16:30, Newcastle Room

14th IFAC Symposium on System Identification, March 29 - 31, 2006, Newcastle, Australia

This information is tentative and subject to change. Compiled on July 16, 2018

Keywords Filtering and Smoothing, Other, Time Series


Accurate vehicle motion models are of essential importance for modern car safety systems, as they enable more precise tracking and prediction of the traffic. During normal driving, the driver controls the vehicle almost completely, yet, standard models, such as the constant acceleration kinematic model, fail to acknowledge the impact of the driver. In this paper, we propose a modified version of the above mentioned model, in which the effect of the driver is introduced as an additional acceleration. To calculate this acceleration, we approximate the driver with an optimal regulator, and derive an optimal trajectory through which the acceleration can be found. Our definition of an optimal trajectory, is such that resulting path should be both comfortable, safe, fast and legal. Simulations indicate that the new model can lead to significant gains in both tracking and prediction performance.